Having Sex When You're Co-Sleeping?

If you have sex while co-sleeping and your baby/toddler wakes up, do you finish, or do you stop and put the child back to sleep?

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I was surprised at how split moms were on this issue: Some moms were truly disgusted by the thought of having sex in the same bed as a co-sleeping baby or toddler. But other moms didn't see the harm in it—if the children are asleep, they don't know what's going on, right?